CN113006716B

CN113006716B - Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode

Info

Publication number: CN113006716B
Application number: CN202110255962.1A
Authority: CN
Inventors: 刘晨润; 刘玉昌; 常金维; 张正龙; 张军刚
Original assignee: Qingdao Changhui Marine Intelligent Equipment Co ltd
Current assignee: Qingdao Changhui Marine Intelligent Equipment Co ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2022-06-28
Anticipated expiration: 2041-03-09
Also published as: CN113006716A

Abstract

The application relates to a device for automatically positioning a drill rod joint and detecting the drill rod joint by adopting a photoelectric contactless mode, which belongs to the technical field of drill rod control equipment, which comprises a mechanical arm, a connecting frame is connected at one end of the mechanical arm, the connecting frame is fixedly connected with a front clamping frame and a rear clamping frame, the front clamping frame is positioned at one side of the rear clamping frame, the front clamping frame is connected with a front clamping assembly for clamping a female joint of a drill rod joint, the rear clamping frame is connected with a rear clamping assembly for clamping the female joint of the drill rod joint, one side of the connecting frame, which corresponds to the front clamping frame and is far away from the rear clamping frame, is connected with a tightening assembly for clamping and rotating a male joint of the drill rod joint, and the automatic control system is also included, the automatic control system comprises a distance detection module, a scanning control module, a waveform calculation module and a clamping control module, and the automatic control system has the effects of accurately and automatically detecting and positioning the drill rod joint and ensuring the accurate clamping position.

Description

Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode

Technical Field

The invention relates to the technical field of drill rod control equipment, in particular to equipment for automatically positioning a drill rod joint and detecting the drill rod joint by adopting a photoelectric contactless mode.

Background

Currently, a drill pipe is a steel pipe with a thread at the tail part and is used for connecting surface equipment of a drilling machine and drilling and grinding equipment or a bottom hole device at the bottom end of a drilled well. The purpose of the drill pipe is to carry drilling mud to the drill bit and, together with the drill bit, raise, lower or rotate the bottom hole assembly. The drill pipe must be able to withstand large internal and external pressures, twists, bends and vibrations. The drill rod joint is a component of a drill rod and is divided into a male joint and a female joint which are connected to two ends of a drill rod pipe body. In order to avoid drilling accidents such as drill pipe breakage, tripping and the like caused by connector abrasion, a drill pipe connector anti-abrasion belt is required to be arranged on a drill pipe female connector. In particular, in the case of tripping, once the friction between the drill rig and the drill rod is too small when the drill rod is pulled out, the drill rod joint is not screwed down or a clamping device of the drill rig fails, the drill rod falls down, the drill rod and the drill bit falling into the drill hole are difficult to take out, and serious loss is caused.

The above prior art solutions have the following drawbacks: if the drill rod joint is not stably connected, accidents such as tripping or drilling distortion are easy to happen, so that the drill rod joint needs to be screwed at the connection position, but at present, an automatic drilling machine cannot accurately clamp and screw the connection position of the drill rod joint.

Disclosure of Invention

In order to press from both sides tight tool joint's junction accurately, this application provides an equipment of adopting photoelectric contactless automatic positioning tool joint and detection tool joint.

The application provides a device that adopts photoelectricity contactless automatic positioning tool joint and detection tool joint adopts following technical scheme:

the equipment comprises a manipulator, one end of the manipulator is connected with a connecting frame, the connecting frame is fixedly connected with a front clamping frame and a rear clamping frame, the front clamping frame is positioned on one side of the rear clamping frame, the front clamping frame is connected with a front clamping assembly for clamping a female connector of a drill rod connector, the rear clamping frame is connected with a rear clamping assembly for clamping the female connector of the drill rod connector, one side, corresponding to the front clamping frame, of the connecting frame, far away from the rear clamping frame, is connected with a screwing assembly for clamping and rotating a male connector of the drill rod connector, and the equipment further comprises an automatic control system, wherein the automatic control system comprises a distance detection module, a scanning control module, a waveform calculation module and a clamping control module;

the distance detection module comprises a photoelectric distance measurement sensor which detects a distance value from the photoelectric distance measurement sensor to the drill rod joint, and the distance detection module transmits the distance value to the waveform calculation module;

The scanning control module receives an input instruction, then controls the distance detection module to work, controls the manipulator to drive the connecting frame to move along the moving direction of the drill rod joint, and transmits the moving stroke information of the connecting frame to the waveform calculation module;

the waveform calculation module draws a plane waveform chart according to the received distance value and the stroke information, calculates the most severely changed area in the plane waveform chart and takes the area as a joint area, acquires the stroke information of the joint area, calculates a coordinate interval of the joint according to the stroke information of the joint area, and sends the coordinate interval of the joint to the clamping control module;

and the clamping control module controls the mechanical arm to place the region between the front clamping frame and the tightening assembly in the coordinate region of the joint according to the obtained coordinate region of the joint.

By adopting the scheme, when the mechanical arm is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor is enabled to scan the surface of the drill rod joint, a oscillogram simulating the surface shape of the drill rod joint is obtained, and the system automatically calculates the position of the joint and controls the equipment to clamp the joint according to the oscillogram. The connecting part of the drill rod joint can be accurately clamped, the screwing effect is stable, the positioning can be carried out when the screw is required to be unscrewed, and the possibility of tripping is reduced.

Preferably, photoelectric distance measuring sensor fixed connection presss from both sides the frame in the front, the link corresponds the back and presss from both sides the frame and keeps away from the clean frame of preceding clamp frame one side fixedly connected with, the clean frame corresponds fixedly connected with driving motor of position department under the photoelectric distance measuring sensor, driving motor's output shaft fixedly connected with commutator, commutator other end fixedly connected with transmission shaft, the clean wheel of transmission shaft fixedly connected with, a plurality of clean blades of clean wheel fixedly connected with, when tool joint is located the back and presss from both sides the frame, clean blade homoenergetic butt tool joint.

Through adopting above-mentioned scheme, driving motor passes through the commutator and drives the transmission shaft rotation, and the transmission shaft drives clean wheel and rotates, when drilling rod joint was taken out from the underground, clean wheel can clean the position that photoelectric distance measuring sensor detected, reduces the possibility of detection error.

Preferably, link fixedly connected with joint frame, the equal sliding connection in joint frame both ends has the arc of cooperation tool joint, two arcs all slide along perpendicular to tool joint moving direction, the one end fixedly connected with that two arcs were kept away from each other has ferromagnetic carriage, the equal first spring of fixedly connected with of carriage, the equal fixed connection of the first spring other end is on the joint frame, two arcs homoenergetic butt on tool joint under the first spring natural state, the joint frame is close to every carriage position department's equal fixedly connected with electro-magnet, when the carriage butt is when the electro-magnet, first spring is in compression state.

Through adopting above-mentioned scheme, when tight tool joint is pressed from both sides to needs, can control the electro-magnet and lose the electricity, first spring can promote the arc and support the drilling rod, plays the effect that the reinforcing presss from both sides tight effect.

Preferably, the connecting frame is fixedly connected with a servo motor, an output shaft of the servo motor is arranged along the moving direction of the drill rod joint, and an output shaft of the servo motor is fixedly connected with a file which can abut against the drill rod joint;

the automatic control system further comprises a slotting control module, the slotting control module calls a joint coordinate interval of the waveform calculation module, the slotting control module stores a set distance value, the slotting control module obtains a slotting coordinate by adding the joint coordinate interval and the set distance value, the slotting control module monitors the downward movement distance of the drill rod, when the movement distance is equal to the set distance value, whether the current coordinate of the drill rod joint is located in the slotting coordinate is calculated, if the current coordinate is located in the slotting coordinate, the servo motor is controlled to abut the file on the drill rod, and the tightening assembly is controlled to rotate the drill rod.

Through adopting above-mentioned scheme, screw up the subassembly and fix the drilling rod after, the file supports tight drilling rod, screw up the subassembly and rotate the drilling rod, the file can grind out the round shallow slot at drilling rod fixed position, when the drilling rod removes, can control the electro-magnet and lose the electricity, let arc butt drilling rod surface, when the arc was pushed away the shallow slot by first spring, the arc can block the drilling rod, let the drilling rod produce and pause, the junction of tool joint has been located the tight department of clamp of equipment this moment, the accuracy of equipping the tight position of clamp has further been guaranteed. Meanwhile, if the drill rod is in the process of being extracted upwards, the arc plate can prevent the drill rod from falling downwards if tripping occurs, and the loss of tripping is reduced.

Preferably, empty slot has all been seted up to every arc intermediate position department, the spout has all been seted up to every carriage corresponding empty slot position, the spout all sets up along the length direction of empty slot, equal sliding connection has the slider in the spout, the slider is close to the equal fixedly connected with nail pole in empty slot one side, the length direction setting of nail pole along the empty slot, the joint frame is close to the cylinder body of the equal fixedly connected with emergency hydraulic cylinder of every slider position department, the length direction setting of the piston rod along the spout of emergency hydraulic cylinder, the piston rod homoenergetic butt of emergency hydraulic cylinder is on the slider.

By adopting the scheme, when tripping happens, the piston rod of the emergency hydraulic cylinder can be controlled to push the sliding block to slide, the nail rod is driven into the drill rod, the drill rod is prevented from continuously falling, and although one drill rod can be lost, the loss of the rest drill rod and the rest drill bit can be avoided.

Preferably, the automatic control system further comprises a slip detection module and an emergency locking module;

the slip detection module controls the electromagnet to lose power when the front clamping assembly and the rear clamping assembly clamp the drill rod joint, monitors the position and the moving speed of the drill rod, and sends a starting signal to the emergency locking module when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value;

And the emergency locking module receives the starting signal and then controls a piston rod of the emergency hydraulic cylinder to extend out.

By adopting the scheme, the system can automatically detect whether the drill rod falls accidentally or not, automatically control the emergency hydraulic cylinder to act, has high automation degree, can prevent the drill rod from falling accidentally in time, and has high response speed and high reliability.

Preferably, the carriage corresponds the spout both ends and has all seted up the sliding tray, the sliding tray sets up along the length direction of spout, the equal fixedly connected with sliding plate in every slider both sides, the equal sliding connection of sliding plate is in the sliding tray, the carriage corresponds every sliding tray and is close to the equal fixedly connected with baffle of arc one end, the sliding plate homoenergetic butt in baffle, the equal fixedly connected with second spring of sliding plate, the equal fixed connection of the second spring other end is on the baffle, the nail pole is located the dead slot under the second spring natural state.

Through adopting above-mentioned scheme, when the piston rod of emergency hydraulic cylinder withdrawed, the second spring can stimulate the slider and return to the normal position, realizes automatic re-setting.

Preferably, the connecting frame corresponds to one side, away from the front clamping frame, of the rear clamping frame, and is fixedly connected with a locking frame, the locking frame is connected with a first bevel gear in a locking and rotating mode, a through hole for a drill rod joint to penetrate through is formed in the middle of the first bevel gear, the locking frame is fixedly connected with a locking motor at a position close to the first bevel gear, an output shaft of the locking motor is fixedly connected with a second bevel gear, the second bevel gear is meshed with the first bevel gear, a spiral track is fixedly arranged on one side, away from the second bevel gear, of the first bevel gear, the locking frame is provided with a plurality of slideways which are arranged towards the through hole, locking blocks are connected into each slideway in a sliding mode, each locking block is provided with a spiral groove matched with the spiral track, and each locking block is connected onto the spiral track in a sliding mode;

And the sliding detection module controls the locking motor to rotate to enable the locking block to be tightly abutted against the drill rod joint when the front clamping assembly and the rear clamping assembly clamp the drill rod joint.

By adopting the scheme, the system can automatically control the locking motor to act, the locking motor drives the second bevel gear to rotate, the second bevel gear drives the first bevel gear to rotate, the first bevel gear drives all the locking blocks to synchronously move along the slide way, so that the locking blocks can clamp the drill rod, the locking blocks can also clamp the drill rod even if the system is in unexpected power failure, the influence of equipment aging is not easily caused, and the possibility of unexpected falling of the drill rod can be further reduced.

Preferably, the front clamping assembly comprises a plurality of cylinder bodies of front hydraulic cylinders fixedly connected to the front clamping frame, piston rods of the front hydraulic cylinders are arranged towards the center of the front clamping frame, the piston rods of the front hydraulic cylinders are fixedly connected with front clamping blocks, and the front clamping blocks can abut against the drill rod joint;

the rear clamping assembly comprises cylinder bodies of a plurality of rear hydraulic cylinders fixedly connected to the rear clamping frame, piston rods of the rear hydraulic cylinders are arranged towards the center of the rear clamping frame, rear clamping blocks are fixedly connected to piston rods of the rear hydraulic cylinders, and the rear clamping blocks can be abutted to the drill rod connector.

By adopting the scheme, the front clamping assembly pushes the front clamping block to clamp the drill rod joint through the front hydraulic cylinder, and the rear clamping assembly pushes the rear clamping block to clamp the drill rod joint through the rear hydraulic cylinder.

Preferably, the manipulator includes the connecting seat and rotates the first arm of connecting on the connecting seat, the first arm other end rotates and is connected with the second arm, second arm other end fixedly connected with support, link sliding connection is on the support, the link slides along tool joint's direction of movement, the connecting seat articulates the cylinder body that has first flexible pneumatic cylinder, the piston rod of first flexible pneumatic cylinder articulates on first arm, first arm articulates the cylinder body that has the flexible pneumatic cylinder of second, the piston rod of the flexible pneumatic cylinder of second articulates on the second arm, the cylinder body of the flexible pneumatic cylinder of support fixedly connected with third, the piston rod of the flexible pneumatic cylinder of third sets up along tool joint's direction of movement, the piston rod fixed connection of the flexible pneumatic cylinder of third is on the link.

Through adopting above-mentioned scheme, the manipulator passes through the position of the flexible pneumatic cylinder control support of first flexible pneumatic cylinder and second, and the flexible pneumatic cylinder of third can promote the link and reciprocate, makes things convenient for the position of adjustment link.

In conclusion, the invention has the following beneficial effects:

1. when the mechanical arm is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor is enabled to scan the surface of the drill rod joint, a oscillogram simulating the surface shape of the drill rod joint is obtained, and the system automatically calculates the position of a joint and controls equipment to clamp the joint according to the oscillogram. The connecting part of the drill rod joint can be accurately clamped, the screwing effect is stable, the positioning can be carried out when the screw is required to be unscrewed, and the possibility of tripping is reduced.

Drawings

Fig. 1 is a schematic view of the overall structure of an apparatus for automatically positioning a drill pipe joint and detecting the drill pipe joint by using photoelectric contactless means according to an embodiment of the present disclosure;

fig. 2 is a schematic structural view of a manipulator of an apparatus for automatically positioning a tool joint and detecting the tool joint using photoelectric contactless positioning according to an embodiment of the present disclosure;

fig. 3 is a schematic view of a connection bracket of an apparatus for automatically positioning a tool joint and detecting a tool joint using electro-optical contactless positioning according to an embodiment of the present disclosure;

fig. 4 is a cross-sectional view of a front clamping assembly and a rear clamping assembly of an apparatus for automatically positioning a tool joint and detecting a tool joint using electro-optical contactless positioning according to an embodiment of the present application;

Fig. 5 is a schematic view of a cleaning rack of an apparatus for automatically positioning a tool joint and detecting tool joint using electro-optical contactless positioning according to an embodiment of the present disclosure;

fig. 6 is a schematic view of a locking bracket of an apparatus for automatically positioning a tool joint and detecting a tool joint using electro-optical contactless positioning according to an embodiment of the present disclosure;

fig. 7 is a schematic view of a first bevel gear, a second bevel gear and a locking block of an apparatus for automatic photoelectric contactless positioning of a tool joint and detection of the tool joint according to an embodiment of the present disclosure;

fig. 8 is a schematic view of a clamping frame of an apparatus for automatically positioning a tool joint and detecting a tool joint using electro-optical contactless positioning according to an embodiment of the present disclosure;

fig. 9 is a cross-sectional view of a hollow channel, a slider and a nail rod of an apparatus for automatically positioning a drill rod coupling and detecting a drill rod coupling using electro-optical contactless means according to an embodiment of the present application;

fig. 10 is a system block diagram of an automatic control system employing an apparatus for electro-optical contactless automatic positioning of a drill pipe joint and detection of a drill pipe joint in accordance with an embodiment of the present application;

fig. 11 is a block diagram of a slotting control module, a slip-off detection module, and an emergency locking module of an apparatus for automatically positioning a drill pipe joint and detecting the drill pipe joint using photoelectric contactless means according to an embodiment of the present invention.

In the figure, 1, a robot; 11. a connecting seat; 111. a first telescopic hydraulic cylinder; 12. a first robot arm; 121. a second telescopic hydraulic cylinder; 13. a second mechanical arm; 14. a support; 141. a third telescopic hydraulic cylinder; 2. a connecting frame; 21. a front clamping frame; 22. a front clamping assembly; 221. a front hydraulic cylinder; 222. a front clamping block; 23. a rear clamping frame; 24. a rear clamping assembly; 241. a rear hydraulic cylinder; 242. a rear clamping block; 25. screwing the assembly; 26. a servo motor; 261. filing; 3. a cleaning frame; 31. a drive motor; 32. a commutator; 33. a drive shaft; 34. a cleaning wheel; 35. cleaning the blades; 4. a clamping frame; 41. a carriage; 411. a chute; 412. a slider; 4121. a sliding plate; 413. a nail rod; 414. a sliding groove; 415. a baffle plate; 416. a second spring; 42. an arc-shaped plate; 421. an empty groove; 43. a first spring; 44. an electromagnet; 45. an emergency hydraulic cylinder; 5. a locking frame; 51. a first bevel gear; 511. a spiral track; 52. a second bevel gear; 53. locking the motor; 54. a slideway; 55. a locking block; 551. a helical groove; 6. an automatic control system; 61. a distance detection module; 611. a photoelectric distance measuring sensor; 62. a scanning control module; 63. a waveform calculation module; 64. a clamping control module; 65. a slotting control module; 66. a slip detection module; 67. an emergency locking module.

Detailed Description

The present application is described in further detail below with reference to figures 1-11.

The embodiment of the application discloses equipment of adopting photoelectricity contactless automatic positioning tool rod joint and detection tool rod joint, as shown in fig. 1 and fig. 2, including manipulator 1, 1 one end of manipulator is connected with link 2. The manipulator 1 comprises a connecting seat 11 and a first mechanical arm 12 which is rotatably connected to the connecting seat 11, the other end of the first mechanical arm 12 is rotatably connected with a second mechanical arm 13, and the other end of the second mechanical arm 13 is fixedly connected with a support 14. The connecting frame 2 is slidably connected to the support 14, and the connecting frame 2 slides along the moving direction of the drill rod joint. The connecting base 11 is hinged with a cylinder body of a first telescopic hydraulic cylinder 111, and a piston rod of the first telescopic hydraulic cylinder 111 is hinged on the first mechanical arm 12. The first mechanical arm 12 is hinged with a cylinder body of a second telescopic hydraulic cylinder 121, and a piston rod of the second telescopic hydraulic cylinder 121 is hinged on the second mechanical arm 13. The support 14 is fixedly connected with a cylinder body of a third telescopic hydraulic cylinder 141, a piston rod of the third telescopic hydraulic cylinder 141 is arranged along the moving direction of the drill rod joint, and a piston rod of the third telescopic hydraulic cylinder 141 is fixedly connected to the connecting frame 2. The manipulator 1 controls the position of the support 14 through the first telescopic hydraulic cylinder 111 and the second telescopic hydraulic cylinder 121, and the third telescopic hydraulic cylinder 141 can push the connecting frame 2 to move up and down, so that the position of the connecting frame 2 can be adjusted conveniently.

As shown in fig. 3, the connecting frame 2 is fixedly connected with a front clamping frame 21 and a rear clamping frame 23, the front clamping frame 21 is located on one side of the rear clamping frame 23, the front clamping frame 21 is connected with a front clamping assembly 22 for clamping a female joint of a drill pipe joint, the rear clamping frame 23 is connected with a rear clamping assembly 24 for clamping the female joint of the drill pipe joint, and the connecting frame 2 is connected with a tightening assembly 25 for clamping and rotating a male joint of the drill pipe joint corresponding to one side of the front clamping frame 21 away from the rear clamping frame 23. The front clamping frame 21 is fixedly connected with a photoelectric distance measuring sensor 611.

As shown in fig. 3 and 4, the front clamping assembly 22 includes a plurality of front hydraulic cylinders 221 fixedly connected to the front clamping frame 21, piston rods of the front hydraulic cylinders 221 are all disposed towards the center of the front clamping frame 21, piston rods of the front hydraulic cylinders 221 are all fixedly connected to front clamping blocks 222, and the front clamping blocks 222 can all abut against the drill rod joints. The rear clamping assembly 24 includes a plurality of rear hydraulic cylinders 241 fixedly connected to the rear clamping frame 23, piston rods of the rear hydraulic cylinders 241 are all arranged towards the center of the rear clamping frame 23, the piston rods of the rear hydraulic cylinders 241 are all fixedly connected with rear clamping blocks 242, and the rear clamping blocks 242 can be abutted to the drill rod joints. Front clamping assembly 22 clamps the pipe joints by pushing front clamping blocks 222 through front hydraulic cylinders 221, and rear clamping assembly 24 clamps the pipe joints by pushing rear clamping blocks 242 through rear hydraulic cylinders 241.

As shown in fig. 3 and 5, the cleaning frame 3 is fixedly connected to the side of the connecting frame 2, which is far away from the front clamping frame 21 and corresponds to the rear clamping frame 23, and the driving motor 31 is fixedly connected to the position of the cleaning frame 3, which is right below the photoelectric distance measuring sensor 611. An output shaft of the driving motor 31 is fixedly connected with a commutator 32, the other end of the commutator 32 is fixedly connected with a transmission shaft 33, the transmission shaft 33 is fixedly connected with a cleaning wheel 34, and the cleaning wheel 34 is fixedly connected with a plurality of cleaning blades 35. The cleaning blades 35 are each able to abut the slip joint when it is located within the rear clamping frame 23. The driving motor 31 drives the transmission shaft 33 to rotate through the commutator 32, the transmission shaft 33 drives the cleaning wheel 34 to rotate, and when the drill rod joint is pulled out from the ground, the cleaning wheel 34 can clean the position detected by the photoelectric distance measuring sensor 611, so that the possibility of detection errors is reduced.

As shown in fig. 6 and 7, the connecting frame 2 is fixedly connected with a locking frame 5 (see fig. 3) corresponding to one side of the rear clamping frame 23, which is far away from the front clamping frame 21, and is connected with a first bevel gear 51 in a locking and rotating manner, and a through hole for a drill rod joint to pass through is formed in the middle of the first bevel gear 51. A locking motor 53 is fixedly connected to the position of the locking frame 5 close to the first bevel gear 51, and a second bevel gear 52 is fixedly connected to an output shaft of the locking motor 53. The second bevel gear 52 is meshed with the first bevel gear 51, and a spiral track 511 is fixedly arranged on one side of the first bevel gear 51 far away from the second bevel gear 52. Locking frame 5 has seted up a plurality of slides 54, and slide 54 all dashes to the through-hole setting, and equal sliding connection has latch segment 55 in every slide 54, and spiral groove 551 of cooperation spiral track 511 is all seted up to latch segment 55, and the equal sliding connection of latch segment 55 is on spiral track 511. The locking motor 53 drives the second bevel gear 52 to rotate, the second bevel gear 52 drives the first bevel gear 51 to rotate, the first bevel gear 51 drives all the locking blocks 55 to synchronously move along the slide way 54, so that the locking blocks 55 clamp the drill rod, the locking blocks 55 can clamp the drill rod even if the system is powered off accidentally, the influence of equipment aging is not easy to cause, and the possibility of accidental falling of the drill rod can be further reduced.

As shown in fig. 3 and 8, a servomotor 26 is fixedly connected to the link 2, an output shaft of the servomotor 26 is provided along the moving direction of the tool joint, a file 261 is fixedly connected to an output shaft of the servomotor 26, and the file 261 can abut against the tool joint. After the tightening assembly 25 fixes the drill rod, the file 261 presses against the drill rod, and when the tightening assembly 25 rotates the drill rod, the file 261 grinds a circle of shallow grooves in the fixed position of the drill rod. The connecting frame 2 is fixedly connected with a clamping frame 4, the two ends of the clamping frame 4 are respectively connected with an arc plate 42 matched with a drill rod joint in a sliding mode, the two arc plates 42 slide along the moving direction of the drill rod joint perpendicular to each other, and one end of each arc plate 42, which is far away from each other, is fixedly connected with a sliding frame 41 with ferromagnetism.

As shown in fig. 8 and 9, the sliding frames 41 are fixedly connected with first springs 43, the other ends of the first springs 43 are fixedly connected to the clamping frame 4, the two arc plates 42 can abut against the drill rod joint in a natural state of the first springs 43, electromagnets 44 are fixedly connected to the clamping frame 4 at positions close to each sliding frame 41, and when the sliding frame 41 abuts against the electromagnets 44, the first springs 43 are in a compressed state. When the drilling rod moves, the electromagnet 44 can be controlled to lose power, the arc-shaped plate 42 is abutted to the surface of the drilling rod, when the arc-shaped plate 42 is pushed into the shallow groove by the first spring 43, the drilling rod can be clamped by the arc-shaped plate 42, the drilling rod stops, the connection part of the drill rod joint is located at the clamping position of the equipment, and the accuracy of the clamping position of the equipment is further ensured. Meanwhile, if the drill rod is tripped in the process of being extracted upwards, the arc-shaped plates 42 can prevent the drill rod from falling downwards, and the loss of tripping is reduced.

As shown in fig. 8 and 9, an empty slot 421 has been all seted up at each arc plate 42 intermediate position department, a spout 411 has all been seted up to each carriage 41 corresponding empty slot 421 position, spout 411 all sets up along the length direction of empty slot 421, all sliding connection has slider 412 in the spout 411, slider 412 is close to the equal fixedly connected with nail pole 413 in empty slot 421 one side, nail pole 413 sets up along the length direction of empty slot 421, the equal fixedly connected with emergency hydraulic cylinder 45's of each slider 412 position department is close to joint frame 4 cylinder body, emergency hydraulic cylinder 45's piston rod sets up along the length direction of spout 411, emergency hydraulic cylinder 45's piston rod all can abut on slider 412. When tripping happens, the piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, the nail rod 413 is driven into the drill rod, the drill rod is prevented from continuously falling, and although one drill rod is lost, the loss of the rest drill rod and the drill bit can be avoided. When tripping happens, the piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, the nail rod 413 is driven into the drill rod, the drill rod is prevented from continuously falling, and although one drill rod is lost, the loss of the rest drill rod and the drill bit can be avoided.

As shown in fig. 8 and 9, sliding grooves 414 are respectively formed at two ends of the sliding groove 411 corresponding to the sliding frame 41, the sliding grooves 414 are arranged along the length direction of the sliding groove 411, sliding plates 4121 are respectively and fixedly connected to two sides of each sliding block 412, the sliding plates 4121 are respectively and slidably connected to the sliding grooves 414, the sliding frame 41 is respectively and fixedly connected to a baffle 415 at one end of each sliding groove 414 close to the arc-shaped plate 42, the sliding plates 4121 can be abutted to the baffle 415, second springs 416 are respectively and fixedly connected to the sliding plates 4121, the other ends of the second springs 416 are respectively and fixedly connected to the baffle 415, and the nail rod 413 is located in the empty groove 421 in the natural state of the second springs 416. When the piston rod of the emergency hydraulic cylinder 45 is retracted, the second spring 416 pulls the sliding block 412 back to the original position, so that automatic reset is realized.

As shown in fig. 10 and 11, the device for automatically positioning and detecting the drill rod joint by photoelectric contactless positioning further comprises an automatic control system 6, and the automatic control system 6 comprises a distance detection module 61, a photoelectric distance measurement sensor 611, a scanning control module 62, a waveform calculation module 63, a clamping control module 64, a slotting control module 65, a sliding-down detection module 66 and an emergency locking module 67.

As shown in fig. 10, the distance detection module 61 is connected to the photoelectric ranging sensor 611, the photoelectric ranging sensor 611 detects a distance value between itself and the tool joint, and the distance detection module 61 transmits the distance value to the waveform calculation module 63. The scanning control module 62 receives the input command and then controls the distance detection module 61 to work, controls the manipulator 1 to drive the connecting frame 2 to move along the moving direction of the drill rod joint, and transmits the moving stroke information of the connecting frame 2 to the waveform calculation module 63. The waveform calculating module 63 draws a plane waveform chart according to the received distance value and the stroke information, the waveform calculating module 63 calculates a region with the most severe change in the plane waveform chart and takes the region as a joint region, the waveform calculating module 63 acquires the stroke information of the joint region, calculates a coordinate interval of the joint region according to the stroke information of the joint region, and sends the coordinate interval of the joint region to the clamping control module 64. The clamping control module 64 controls the robot 1 to place the region between the front clamping frame 21 and the tightening unit 25 within the joint coordinate zone according to the acquired joint coordinate zone. When the manipulator 1 is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor 611 is used for scanning the surface of the drill rod joint to obtain a waveform diagram simulating the surface shape of the drill rod joint, and the system automatically calculates the position of the joint according to the waveform diagram and controls equipment to clamp the joint. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.

As shown in fig. 11, the slotting control module 65 calls a connection coordinate section of the waveform calculating module 63, the slotting control module 65 stores a set distance value, the slotting control module 65 adds the connection coordinate section and the set distance value to obtain a slotting coordinate, the slotting control module 65 monitors a downward movement distance of the drill rod, when the movement distance is equal to the set distance value, the slotting control module calculates whether a current coordinate of the drill rod joint is located at the slotting coordinate, and if the current coordinate is located at the slotting coordinate, the slotting control module controls the servo motor 26 to abut the file 261 on the drill rod, and controls the tightening assembly 25 to rotate the drill rod. The system automatically controls the file 261 to grind the drill rod, and the grinding position is accurate.

As shown in fig. 11, the slip detection module 66 controls the electromagnet 44 to be de-energized and the emergency locking module 67 to control the piston rod of the emergency hydraulic cylinder 45 to extend after receiving the start signal when the front clamping assembly 22 and the rear clamping assembly 24 clamp the drill rod joint, and the slip detection module 66 monitors the position and the moving speed of the drill rod and sends a start signal to the emergency locking module 67 when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value. The emergency locking module 67 receives the starting signal and controls the piston rod of the emergency hydraulic cylinder 45 to extend. The system can automatically detect whether the drill rod falls accidentally or not, automatically control the emergency hydraulic cylinder 45 and the locking motor 53 to act, has high automation degree, can prevent the drill rod from falling accidentally in time, and has high response speed and high reliability.

The implementation principle of the equipment of this application embodiment adopting photoelectric contactless automatic positioning tool joint and detection tool joint is: when the manipulator 1 is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor 611 is used for scanning the surface of the drill rod joint to obtain a waveform diagram simulating the surface shape of the drill rod joint, and the system automatically calculates the position of the joint according to the waveform diagram and controls equipment to clamp the joint. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.

After the drill rod is buckled, the system controls the file 261 to grind the drill rod after the drill rod moves to a proper position, and a circle of shallow grooves are ground. When it is desired to clamp the pipe joint, the electromagnet 44 may be controlled to de-energise and the first spring 43 will urge the arcuate plate 42 against the pipe. The system can automatically detect whether the drill rod falls accidentally or not, and automatically control the arc-shaped plate 42 and the locking block 55 to clamp the drill rod, so that the drill rod is prevented from falling continuously. The piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, so that the nail rod 413 is driven into the drill rod, and the drill rod is prevented from continuously falling.

The embodiments of the present invention are all preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, so: equivalent changes made according to the structure, shape and principle of the invention shall be covered by the protection scope of the invention.

Claims

1. The utility model provides an adopt equipment of photoelectricity contactless automatic positioning tool rod joint and detection tool rod joint, including manipulator (1), manipulator (1) one end is connected with link (2), preceding clamping frame (21) of link (2) fixedly connected with presss from both sides tight frame (23) with the back, preceding clamping frame (21) are located back clamping frame (23) one side, preceding clamping frame (21) are connected with preceding clamping component (22) that press from both sides tight tool rod joint's female joint, back clamping frame (23) are connected with back clamping component (24) that press from both sides tight tool rod joint's female joint, link (2) correspond preceding clamping frame (21) keep away from back clamping frame (23) one side and are connected with tight subassembly (25) of screwing up of the male joint that presss from both sides tight and rotate tool rod joint, its characterized in that: the automatic control system (6) comprises a distance detection module (61), a scanning control module (62), a waveform calculation module (63), a clamping control module (64), a slotting control module (65), a sliding-down detection module (66) and an emergency locking module (67);

The distance detection module (61) comprises a photoelectric distance measurement sensor (611), the photoelectric distance measurement sensor (611) detects a distance value between the photoelectric distance measurement sensor and a drill rod joint, and the distance detection module (61) transmits the distance value to the waveform calculation module (63);

the scanning control module (62) receives an input instruction and then controls the distance detection module (61) to work, controls the manipulator (1) to drive the connecting frame (2) to move along the moving direction of the drill rod joint, and transmits stroke information of the movement of the connecting frame (2) to the waveform calculation module (63);

the waveform calculation module (63) draws a plane waveform diagram according to the received distance value and the stroke information, the waveform calculation module (63) calculates the most severely changed area in the plane waveform diagram and takes the area as a joint area, the waveform calculation module (63) acquires the stroke information of the joint area, calculates the coordinate interval of the joint according to the stroke information of the joint area, and sends the coordinate interval of the joint to the clamping control module (64);

the clamping control module (64) controls the mechanical arm (1) to place the area between the front clamping frame (21) and the tightening assembly (25) in the coordinate interval of the joint according to the obtained coordinate interval of the joint;

the slotting control module (65) calls a connecting part coordinate interval of the waveform calculation module (63), a set distance value is stored in the slotting control module (65), the slotting control module (65) adds the connecting part coordinate interval and the set distance value to obtain a slotting coordinate, the slotting control module (65) monitors the downward moving distance of the drill rod, when the moving distance is equal to the set distance value, whether the coordinate of the current drill rod joint is located in the slotting coordinate is calculated, if the current drill rod joint is located in the slotting coordinate, the servo motor (26) is controlled to enable the file (261) to abut against the drill rod, and the tightening assembly (25) is controlled to rotate the drill rod;

The slip detection module (66) controls the electromagnet (44) to lose power when the front clamping assembly (22) and the rear clamping assembly (24) clamp the drill rod joint, monitors the position and the moving speed of the drill rod, and sends a starting signal to the emergency locking module (67) when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value, wherein the connecting frame (2) is fixedly connected with the clamping frame (4), two ends of the clamping frame (4) are both slidably connected with arc plates (42) matched with the drill rod joint, the two arc plates (42) both slide along the direction perpendicular to the moving direction of the drill rod joint, one ends of the two arc plates (42) far away from each other are fixedly connected with ferromagnetic sliding frames (41), and the positions of the clamping frame (4) close to each sliding frame (41) are both fixedly connected with the electromagnet (44);

urgent locking module (67) receive behind the start signal the piston rod of control urgent pneumatic cylinder (45) and stretch out, wherein, empty slot (421) have all been seted up to every arc (42) intermediate position department, spout (411) have all been seted up to every carriage (41) corresponding empty slot (421) position, the length direction setting of empty slot (421) is all followed in spout (411), equal sliding connection has slider (412) in spout (411), the joint frame (4) are close to the cylinder body of every slider (412) equal fixedly connected with urgent pneumatic cylinder (45) of position department, the length direction setting of spout (411) is followed to the piston rod of urgent pneumatic cylinder (45), the piston rod homoenergetic of urgent pneumatic cylinder (45) butt on slider (412).

2. The device of claim 1, wherein the device for automatically positioning the drill rod joint and detecting the drill rod joint by photoelectric contactless means is characterized in that: photoelectric distance measuring sensor (611) fixed connection is in preceding clamping frame (21), connecting frame (2) correspond back clamping frame (23) and keep away from preceding clamping frame (21) one side fixedly connected with clean frame (3), clean frame (3) correspond photoelectric distance measuring sensor (611) under position fixedly connected with driving motor (31), the output shaft fixedly connected with commutator (32) of driving motor (31), commutator (32) other end fixedly connected with transmission shaft (33), transmission shaft (33) fixedly connected with cleaning wheel (34), a plurality of clean blade (35) of cleaning wheel (34) fixedly connected with, when the drilling rod connects to be located back clamping frame (23), clean blade (35) homoenergetic butt drilling rod connects.

3. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: the equal fixedly connected with first spring (43) of carriage (41), the equal fixed connection of first spring (43) other end is on joint frame (4), and two arcs (42) all can butt on the drilling rod joint under first spring (43) natural state, and when carriage (41) butt in electro-magnet (44), first spring (43) are in compression state.

4. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: one side of the sliding block (412) close to the empty groove (421) is fixedly connected with a nail rod (413), and the nail rod (413) is arranged along the length direction of the empty groove (421).

5. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: sliding frame (41) correspond spout (411) both ends and have all seted up sliding tray (414), sliding tray (414) set up along the length direction of spout (411), the equal fixedly connected with sliding plate (4121) in every slider (412) both sides, the equal sliding connection in sliding tray (414) of sliding plate (4121), sliding frame (41) correspond every sliding tray (414) and are close to equal fixedly connected with baffle (415) of arc (42) one end, sliding plate (4121) all can the butt in baffle (415), the equal fixedly connected with second spring (416) of sliding plate (4121), the equal fixed connection in baffle (415) of second spring (416) other end, nail pole (413) are located empty groove (421) under second spring (416) the natural state.

6. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: one side, far away from the front clamping frame (21), of the connecting frame (2) corresponding to the rear clamping frame (23) is fixedly connected with a locking frame (5), the locking frame is connected with a first bevel gear (51) in a rotating mode, a through hole for a drill rod joint to pass through is formed in the middle of the first bevel gear (51), a locking motor (53) is fixedly connected to the position, close to the first bevel gear (51), of the locking frame (5), an output shaft of the locking motor (53) is fixedly connected with a second bevel gear (52), the second bevel gear (52) is meshed with the first bevel gear (51), a spiral track (511) is fixedly arranged on one side, far away from the second bevel gear (52), of the first bevel gear (51), a plurality of slide ways (54) are arranged on the locking frame (5), the slide ways (54) are arranged towards the through hole, a locking block (55) is slidably connected in each slide way (54), spiral grooves (551) matched with the spiral track (511) are formed in the locking block (55), the locking blocks (55) are all connected to the spiral track (511) in a sliding manner;

And the slip detection module (66) controls the locking motor (53) to rotate to enable the locking block (55) to be abutted against the drill rod joint when the front clamping assembly (22) and the rear clamping assembly (24) clamp the drill rod joint.

7. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: the front clamping assembly (22) comprises a plurality of front hydraulic cylinders (221) fixedly connected to the front clamping frame (21), piston rods of the front hydraulic cylinders (221) are arranged towards the center of the front clamping frame (21), piston rods of the front hydraulic cylinders (221) are fixedly connected with front clamping blocks (222), and the front clamping blocks (222) can abut against a drill rod joint;

the rear clamping assembly (24) comprises a plurality of rear hydraulic cylinders (241) fixedly connected to the rear clamping frame (23), piston rods of the rear hydraulic cylinders (241) are arranged towards the center of the rear clamping frame (23), rear clamping blocks (242) are fixedly connected to piston rods of the rear hydraulic cylinders (241), and the rear clamping blocks (242) can abut against the drill rod connector.

8. The device of claim 1, an equipment of automatic positioning drilling rod joint and detection drilling rod joint with photoelectric contactless, characterized in that: the manipulator (1) comprises a connecting seat (11) and a first mechanical arm (12) which is rotatably connected onto the connecting seat (11), the other end of the first mechanical arm (12) is rotatably connected with a second mechanical arm (13), the other end of the second mechanical arm (13) is fixedly connected with a support (14), a connecting frame (2) is slidably connected onto the support (14), the connecting frame (2) slides along the moving direction of a drill rod joint, the connecting seat (11) is hinged with a cylinder body of a first telescopic hydraulic cylinder (111), a piston rod of the first telescopic hydraulic cylinder (111) is hinged onto the first mechanical arm (12), the first mechanical arm (12) is hinged with a cylinder body of a second telescopic hydraulic cylinder (121), a piston rod of the second telescopic hydraulic cylinder (121) is hinged onto the second mechanical arm (13), the support (14) is fixedly connected with a cylinder body of a third telescopic hydraulic cylinder (141), a piston rod of the third telescopic hydraulic cylinder (141) is arranged along the moving direction of the drill rod joint, a piston rod of the third telescopic hydraulic cylinder (141) is fixedly connected to the connecting frame (2).